SINS/CNS组合导航系统陀螺在线标定技术  

On-line calibration of gyro in SINS/CNS integrated navigation system

作　　者：肇慧[1,2] 沈继红[3] 陈涛[3] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]黑龙江工程学院数学系,哈尔滨150001 [3]哈尔滨工程大学理学院,哈尔滨150001

出　　处：《计算机工程与应用》2013年第19期1-4,122,共5页Computer Engineering and Applications

基　　金：国家自然科学基金(No.11102047);黑龙江省自然科学基金(No.F200931);黑龙江省教育厅科学技术研究项目(No.12521446)

摘　　要：陀螺仪长时间工作时,由于环境变化等因素,会产生陀螺漂移、标度因数误差和安装轴不正交误差,而且由积分得到的姿态参数信息误差也会相应变大,因此需要对陀螺进行在线标定。借助CNS提供的高精度姿态信息,基于四元数误差建立陀螺在线标定模型,采用卡尔曼滤波器对SINS/CNS组合导航系统陀螺在线标定技术进行仿真研究。仿真结果验证了该算法的有效性,能够估计误差模型中的所有参数,并且满足标定精度要求,具有工程应用价值。When the vessels are sailing for a long time, the changes in environmental and other factors, which will cause gyro drift, scale factors and installation errors, as well, attitude information errors by integral is correspondingly getting larger, so it needs to carry on on-line calibration of gyro. This paper uses high precision attitude information which is provided by CNS, in-stalls on-line calibration error models based on quaternion errors, it uses Kalman filter to simulate, studies on on-line calibration of gyro in SINS/CNS integrated navigation system. Simulation results verify the validity of algorithm, all parameters in the error models can be estimated, and which meet the requirements of accuracy, it’s valuable in engineering application.

关 键 词：在线标定 四元数误差 组合导航 卡尔曼滤波 

分 类 号：TN216.1[电子电信—物理电子学]